Real-time Online Feet Trajectory Generation Method for Hexapod Robot

摘要

Hexapod walking robot is a complex electromechanical system with many degrees of freedom. Six legs ensure robot's stability as at least three legs are always on the ground but require more effort in order to synchronize them for a successful locomotion. In this paper, we present a method that allows calculate feet trajectories in real-time and online. This method enables to select different gaits and their parameters.